%Succeed to open USB2Dynamixel!
data=struct();
data.description_experience="Consigne de couple sinusoidale, avec asservissement";
data.values=zeros(10000,6);% Indices des colonnes de données
data.col_time=1;
data.col_position=2;
data.col_vitesse=3;
data.col_current=4;
data.col_load=5;
data.col_consigne=6;
i=0;
%Press Enter key to continue!(press ESC and Enter to quit)

i=i+1;data.values(i,:)=[0,0.121214,-0.143807,-0.497129,2.680000,2200];
i=i+1;data.values(i,:)=[7996,0.112008,-0.431421,-0.596104,2.700000,2200];
i=i+1;data.values(i,:)=[16004,0.093596,-0.958713,-0.573610,2.800000,2200];
i=i+1;data.values(i,:)=[23993,0.070580,-1.677747,-0.519623,2.800000,2200];
i=i+1;data.values(i,:)=[32077,0.044496,-2.540589,-0.573610,2.800000,2200];
i=i+1;data.values(i,:)=[40007,0.007672,-3.115817,-0.492630,2.720000,2200];
i=i+1;data.values(i,:)=[49497,6.255567,-3.595174,-0.497129,2.940000,2200];
i=i+1;data.values(i,:)=[58000,6.208002,-4.218338,-0.375658,3.020000,2200];
i=i+1;data.values(i,:)=[69028,6.154299,-4.793564,-0.186704,2.750000,2200];
i=i+1;data.values(i,:)=[76992,6.086788,-5.464664,-0.105724,2.210000,2200];
i=i+1;data.values(i,:)=[86999,6.037688,-5.656406,-0.105724,2.010000,2200];
i=i+1;data.values(i,:)=[97000,5.965573,-5.896085,-0.182205,1.960000,2200];
i=i+1;data.values(i,:)=[105000,5.901131,-5.944021,-0.119221,1.960000,2200];
i=i+1;data.values(i,:)=[113997,5.845894,-5.944021,-0.146214,1.920000,2200];
i=i+1;data.values(i,:)=[122995,5.786054,-5.848149,-0.123720,1.920000,2200];
i=i+1;data.values(i,:)=[131004,5.729283,-5.848149,-0.128219,1.840000,2200];
i=i+1;data.values(i,:)=[139997,5.675581,-5.848149,-0.173208,1.880000,2200];
i=i+1;data.values(i,:)=[149048,5.615741,-5.896085,-0.110223,1.880000,2200];
i=i+1;data.values(i,:)=[156999,5.555901,-5.896085,-0.119221,1.840000,2200];
i=i+1;data.values(i,:)=[164999,5.500664,-5.991956,-0.110223,1.920000,2200];
i=i+1;data.values(i,:)=[174997,5.454633,-5.991956,-0.092227,1.920000,2200];
i=i+1;data.values(i,:)=[182995,5.385588,-5.991956,-0.119221,1.920000,2200];
i=i+1;data.values(i,:)=[191002,5.333419,-6.039892,-0.110223,1.920000,2200];
i=i+1;data.values(i,:)=[200001,5.276649,-5.896085,-0.173208,1.840000,2200];
i=i+1;data.values(i,:)=[209000,5.216808,-5.944021,-0.164210,1.840000,2200];
i=i+1;data.values(i,:)=[218388,5.161572,-5.991956,-0.119221,1.760000,2200];
i=i+1;data.values(i,:)=[227997,5.094060,-6.087827,-0.168709,1.880000,2200];
i=i+1;data.values(i,:)=[235996,5.031151,-6.039892,-0.105724,1.800000,2200];
i=i+1;data.values(i,:)=[243996,4.980518,-5.944021,-0.092227,1.800000,2200];
i=i+1;data.values(i,:)=[254003,4.926815,-5.944021,-0.150713,1.800000,2200];
i=i+1;data.values(i,:)=[261999,4.859303,-5.944021,-0.101225,1.800000,2200];
i=i+1;data.values(i,:)=[270000,4.805601,-6.039892,-0.132718,1.840000,2200];
i=i+1;data.values(i,:)=[277995,4.753433,-6.039892,-0.137216,1.840000,2200];
i=i+1;data.values(i,:)=[285997,4.698196,-6.039892,-0.101225,1.760000,2200];
i=i+1;data.values(i,:)=[293997,4.647563,-5.944021,-0.132718,1.760000,2200];
i=i+1;data.values(i,:)=[301992,4.595394,-6.087827,-0.137216,1.840000,2200];
i=i+1;data.values(i,:)=[309995,4.540158,-6.087827,-0.096726,1.840000,2200];
i=i+1;data.values(i,:)=[318010,4.486455,-6.135763,-0.200201,1.760000,2200];
i=i+1;data.values(i,:)=[325999,4.435822,-5.991956,-0.128219,1.760000,2200];
i=i+1;data.values(i,:)=[335040,4.383654,-5.991956,-0.114722,1.840000,2200];
i=i+1;data.values(i,:)=[342995,4.323813,-6.135763,-0.101225,1.840000,2200];
i=i+1;data.values(i,:)=[351001,4.270111,-6.135763,-0.182205,1.800000,2200];
i=i+1;data.values(i,:)=[359000,4.216409,-6.183698,-0.155212,1.710000,2200];
i=i+1;data.values(i,:)=[366994,4.165775,-6.039892,-0.096726,1.710000,2200];
i=i+1;data.values(i,:)=[375998,4.112072,-6.039892,-0.105724,1.710000,2200];
i=i+1;data.values(i,:)=[384379,4.050698,-6.039892,-0.092227,1.800000,2200];
i=i+1;data.values(i,:)=[391994,3.996996,-6.135763,-0.173208,1.800000,2200];
i=i+1;data.values(i,:)=[399998,3.941759,-6.135763,-0.101225,1.710000,2200];
i=i+1;data.values(i,:)=[407995,3.892660,-6.039892,-0.173208,1.710000,2200];
i=i+1;data.values(i,:)=[416992,3.838957,-6.039892,-0.092227,1.760000,2200];
i=i+1;data.values(i,:)=[426995,3.760705,-6.039892,-0.173208,1.710000,200];
i=i+1;data.values(i,:)=[434994,3.713140,-5.991956,-0.110223,1.710000,200];
i=i+1;data.values(i,:)=[443993,3.657903,-6.087827,-0.155212,1.760000,200];
i=i+1;data.values(i,:)=[452992,3.599598,-6.087827,-0.173208,1.800000,200];
i=i+1;data.values(i,:)=[461998,3.539758,-6.087827,-0.123720,1.760000,200];
i=i+1;data.values(i,:)=[469998,3.486056,-6.087827,-0.204700,1.880000,200];
i=i+1;data.values(i,:)=[477998,3.433887,-6.087827,-0.123720,1.840000,200];
i=i+1;data.values(i,:)=[487012,3.377116,-5.991956,-0.195702,1.800000,200];
i=i+1;data.values(i,:)=[495013,3.317276,-5.991956,-0.105724,1.760000,200];
i=i+1;data.values(i,:)=[504007,3.263574,-5.991956,-0.119221,1.800000,200];
i=i+1;data.values(i,:)=[511997,3.203734,-5.944021,-0.087729,1.760000,200];
i=i+1;data.values(i,:)=[519993,3.154635,-6.087827,-0.132718,1.840000,200];
i=i+1;data.values(i,:)=[529239,3.100932,-6.087827,-0.092227,1.840000,200];
i=i+1;data.values(i,:)=[536997,3.041092,-6.039892,-0.182205,1.840000,200];
i=i+1;data.values(i,:)=[544999,2.984321,-5.944021,-0.105724,1.800000,200];
i=i+1;data.values(i,:)=[552992,2.932153,-5.944021,-0.159711,1.800000,200];
i=i+1;data.values(i,:)=[560994,2.884588,-6.039892,-0.141715,1.840000,200];
i=i+1;data.values(i,:)=[570011,2.829351,-6.039892,-0.155212,1.880000,200];
i=i+1;data.values(i,:)=[578495,2.771046,-6.039892,-0.141715,1.880000,200];
i=i+1;data.values(i,:)=[586995,2.709671,-5.991956,-0.119221,1.880000,200];
i=i+1;data.values(i,:)=[595999,2.654435,-5.896085,-0.146214,1.840000,200];
i=i+1;data.values(i,:)=[604992,2.594595,-5.896085,-0.087729,1.760000,200];
i=i+1;data.values(i,:)=[612994,2.539358,-5.944021,-0.173208,1.800000,200];
i=i+1;data.values(i,:)=[621011,2.485656,-5.944021,-0.092227,1.800000,200];
i=i+1;data.values(i,:)=[630001,2.430419,-6.039892,-0.105724,1.880000,200];
i=i+1;data.values(i,:)=[637997,2.372113,-6.039892,-0.092227,1.880000,200];
i=i+1;data.values(i,:)=[645993,2.318411,-6.039892,-0.164210,1.880000,200];
i=i+1;data.values(i,:)=[654992,2.269311,-5.896085,-0.173208,1.840000,200];
i=i+1;data.values(i,:)=[663993,2.207937,-5.896085,-0.132718,1.800000,200];
i=i+1;data.values(i,:)=[672992,2.148098,-5.944021,-0.110223,1.800000,200];
i=i+1;data.values(i,:)=[681995,2.088258,-5.896085,-0.119221,1.800000,200];
i=i+1;data.values(i,:)=[689993,2.028418,-5.944021,-0.119221,1.800000,200];
i=i+1;data.values(i,:)=[697995,1.974715,-6.039892,-0.186704,1.840000,200];
i=i+1;data.values(i,:)=[706993,1.921013,-6.039892,-0.123720,1.840000,200];
i=i+1;data.values(i,:)=[715021,1.859639,-6.039892,-0.119221,1.840000,200];
i=i+1;data.values(i,:)=[724011,1.805936,-6.039892,-0.132718,1.880000,200];
i=i+1;data.values(i,:)=[732001,1.746096,-5.991956,-0.132718,1.800000,200];
i=i+1;data.values(i,:)=[740997,1.695463,-5.991956,-0.132718,1.760000,200];
i=i+1;data.values(i,:)=[748999,1.634089,-5.944021,-0.123720,1.760000,200];
i=i+1;data.values(i,:)=[756995,1.580386,-6.087827,-0.096726,1.840000,200];
i=i+1;data.values(i,:)=[765997,1.528218,-6.039892,-0.096726,1.840000,200];
i=i+1;data.values(i,:)=[773996,1.466844,-6.087827,-0.204700,1.840000,200];
i=i+1;data.values(i,:)=[782995,1.413141,-5.991956,-0.092227,1.760000,200];
i=i+1;data.values(i,:)=[790993,1.353301,-5.991956,-0.119221,1.760000,200];
i=i+1;data.values(i,:)=[799995,1.302668,-6.039892,-0.110223,1.710000,200];
i=i+1;data.values(i,:)=[809000,1.242828,-6.039892,-0.087729,1.710000,200];
i=i+1;data.values(i,:)=[817996,1.182988,-5.991956,-0.159711,1.760000,200];
i=i+1;data.values(i,:)=[825995,1.123148,-6.039892,-0.137216,1.710000,200];
i=i+1;data.values(i,:)=[834291,1.077117,-6.135763,-0.119221,1.800000,200];
i=i+1;data.values(i,:)=[842013,1.015743,-6.135763,-0.087729,1.800000,200];
i=i+1;data.values(i,:)=[852992,0.954369,-6.135763,-0.137216,1.800000,2200];
i=i+1;data.values(i,:)=[861000,0.894529,-6.135763,-0.096726,1.800000,2200];
i=i+1;data.values(i,:)=[868995,0.840827,-6.135763,-0.137216,1.800000,2200];
i=i+1;data.values(i,:)=[878001,0.790193,-6.087827,-0.132718,1.760000,2200];
i=i+1;data.values(i,:)=[885994,0.730353,-6.039892,-0.119221,1.710000,2200];
i=i+1;data.values(i,:)=[894004,0.678185,-6.087827,-0.101225,1.670000,2200];
i=i+1;data.values(i,:)=[901999,0.622948,-6.135763,-0.150713,1.800000,2200];
i=i+1;data.values(i,:)=[909999,0.569246,-6.183698,-0.173208,1.800000,2200];
i=i+1;data.values(i,:)=[918991,0.510940,-5.991956,-0.150713,1.670000,2200];
i=i+1;data.values(i,:)=[928629,0.457238,-5.991956,-0.101225,1.710000,2200];
i=i+1;data.values(i,:)=[936999,0.391261,-6.135763,-0.083230,1.800000,2200];
i=i+1;data.values(i,:)=[944992,0.337558,-5.991956,-0.195702,1.710000,2200];
i=i+1;data.values(i,:)=[953992,0.283856,-5.991956,-0.137216,1.760000,2200];
i=i+1;data.values(i,:)=[963006,0.222482,-6.039892,-0.119221,1.760000,2200];
i=i+1;data.values(i,:)=[971010,0.162642,-6.087827,-0.137216,1.800000,2200];
i=i+1;data.values(i,:)=[979458,0.108939,-6.087827,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[988007,0.053702,-6.039892,-0.155212,1.840000,2200];
i=i+1;data.values(i,:)=[996994,6.280117,-5.991956,-0.168709,1.880000,2200];
i=i+1;data.values(i,:)=[1005012,6.218742,-5.991956,-0.114722,1.800000,2200];
i=i+1;data.values(i,:)=[1012995,6.168108,-5.896085,-0.114722,1.840000,2200];
i=i+1;data.values(i,:)=[1020994,6.114407,-5.991956,-0.182205,1.880000,2200];
i=i+1;data.values(i,:)=[1029002,6.062238,-5.991956,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[1037991,6.007001,-5.991956,-0.132718,1.800000,2200];
i=i+1;data.values(i,:)=[1045992,5.945627,-6.039892,-0.123720,1.800000,2200];
i=i+1;data.values(i,:)=[1054993,5.896528,-5.944021,-0.128219,1.800000,2200];
i=i+1;data.values(i,:)=[1063993,5.835154,-5.896085,-0.200201,1.840000,2200];
i=i+1;data.values(i,:)=[1072992,5.775313,-5.944021,-0.173208,1.840000,2200];
i=i+1;data.values(i,:)=[1081994,5.715474,-5.944021,-0.110223,1.800000,2200];
i=i+1;data.values(i,:)=[1089994,5.654100,-5.944021,-0.173208,1.800000,2200];
i=i+1;data.values(i,:)=[1097997,5.601932,-5.991956,-0.173208,1.880000,2200];
i=i+1;data.values(i,:)=[1105999,5.554367,-5.991956,-0.123720,1.920000,2200];
i=i+1;data.values(i,:)=[1113995,5.496061,-5.944021,-0.132718,1.840000,2200];
i=i+1;data.values(i,:)=[1123010,5.442359,-5.896085,-0.146214,1.800000,2200];
i=i+1;data.values(i,:)=[1131996,5.382519,-5.896085,-0.119221,1.800000,2200];
i=i+1;data.values(i,:)=[1140016,5.321145,-5.896085,-0.182205,1.800000,2200];
i=i+1;data.values(i,:)=[1148997,5.268976,-6.039892,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[1157003,5.215274,-6.039892,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[1165012,5.161572,-5.991956,-0.123720,1.920000,2200];
i=i+1;data.values(i,:)=[1176000,5.103266,-5.991956,-0.119221,1.920000,2200];
i=i+1;data.values(i,:)=[1183999,5.034220,-6.039892,-0.092227,1.880000,2200];
i=i+1;data.values(i,:)=[1191994,4.978983,-6.039892,-0.186704,1.800000,2200];
i=i+1;data.values(i,:)=[1199995,4.929884,-5.896085,-0.114722,1.800000,2200];
i=i+1;data.values(i,:)=[1207992,4.876182,-5.896085,-0.087729,1.800000,2200];
i=i+1;data.values(i,:)=[1216995,4.822479,-6.039892,-0.132718,1.880000,2200];
i=i+1;data.values(i,:)=[1225996,4.761105,-6.087827,-0.114722,1.880000,2200];
i=i+1;data.values(i,:)=[1234004,4.701265,-6.087827,-0.105724,1.800000,2200];
i=i+1;data.values(i,:)=[1241995,4.647563,-6.087827,-0.146214,1.760000,2200];
i=i+1;data.values(i,:)=[1250992,4.596929,-5.991956,-0.087729,1.760000,2200];
i=i+1;data.values(i,:)=[1260000,4.537089,-6.039892,-0.128219,1.710000,2200];
i=i+1;data.values(i,:)=[1268011,4.475715,-6.039892,-0.146214,1.760000,2200];
i=i+1;data.values(i,:)=[1277997,4.405134,-5.991956,-0.137216,1.710000,200];
i=i+1;data.values(i,:)=[1287011,4.354501,-6.087827,-0.150713,1.710000,200];
i=i+1;data.values(i,:)=[1296015,4.293127,-6.087827,-0.096726,1.710000,200];
i=i+1;data.values(i,:)=[1303992,4.233286,-6.039892,-0.128219,1.710000,200];
i=i+1;data.values(i,:)=[1312998,4.181118,-6.135763,-0.141715,1.710000,200];
i=i+1;data.values(i,:)=[1321992,4.125882,-6.135763,-0.128219,1.840000,200];
i=i+1;data.values(i,:)=[1330001,4.066041,-6.135763,-0.114722,1.800000,200];
i=i+1;data.values(i,:)=[1337998,4.010805,-6.135763,-0.119221,1.840000,200];
i=i+1;data.values(i,:)=[1346999,3.955568,-6.039892,-0.150713,1.710000,200];
i=i+1;data.values(i,:)=[1355992,3.894194,-6.087827,-0.146214,1.670000,200];
i=i+1;data.values(i,:)=[1364994,3.832820,-6.039892,-0.105724,1.760000,200];
i=i+1;data.values(i,:)=[1374012,3.779117,-6.039892,-0.096726,1.710000,200];
i=i+1;data.values(i,:)=[1382725,3.720812,-5.991956,-0.150713,1.760000,200];
i=i+1;data.values(i,:)=[1390503,3.659438,-5.991956,-0.128219,1.710000,200];
i=i+1;data.values(i,:)=[1398998,3.607270,-5.991956,-0.137216,1.760000,200];
i=i+1;data.values(i,:)=[1408015,3.553567,-6.135763,-0.141715,1.800000,200];
i=i+1;data.values(i,:)=[1416991,3.493727,-6.039892,-0.096726,1.840000,200];
i=i+1;data.values(i,:)=[1425997,3.435422,-6.135763,-0.092227,1.840000,200];
i=i+1;data.values(i,:)=[1433997,3.374048,-6.087827,-0.159711,1.840000,200];
i=i+1;data.values(i,:)=[1441995,3.320345,-6.087827,-0.114722,1.760000,200];
i=i+1;data.values(i,:)=[1449996,3.269711,-5.991956,-0.087729,1.760000,200];
i=i+1;data.values(i,:)=[1457998,3.216009,-5.991956,-0.137216,1.840000,200];
i=i+1;data.values(i,:)=[1467017,3.162307,-6.087827,-0.146214,1.880000,200];
i=i+1;data.values(i,:)=[1475013,3.100932,-6.087827,-0.132718,1.840000,200];
i=i+1;data.values(i,:)=[1482998,3.047230,-6.087827,-0.087729,1.760000,200];
i=i+1;data.values(i,:)=[1491014,2.998130,-5.991956,-0.204700,1.760000,200];
i=i+1;data.values(i,:)=[1498996,2.944428,-5.944021,-0.155212,1.880000,200];
i=i+1;data.values(i,:)=[1507993,2.892260,-5.991956,-0.119221,1.880000,200];
i=i+1;data.values(i,:)=[1516997,2.830886,-6.039892,-0.092227,1.920000,200];
i=i+1;data.values(i,:)=[1524991,2.771046,-5.944021,-0.141715,1.920000,200];
i=i+1;data.values(i,:)=[1533001,2.718878,-5.991956,-0.105724,1.880000,200];
i=i+1;data.values(i,:)=[1540995,2.668244,-5.896085,-0.137216,1.840000,200];
i=i+1;data.values(i,:)=[1549993,2.616076,-6.039892,-0.092227,1.920000,200];
i=i+1;data.values(i,:)=[1557999,2.556236,-5.991956,-0.186704,1.880000,200];
i=i+1;data.values(i,:)=[1565996,2.500999,-5.991956,-0.110223,1.920000,200];
i=i+1;data.values(i,:)=[1575010,2.445762,-5.991956,-0.105724,1.880000,200];
i=i+1;data.values(i,:)=[1583997,2.387457,-5.991956,-0.123720,1.840000,200];
i=i+1;data.values(i,:)=[1591994,2.327617,-5.896085,-0.101225,1.840000,200];
i=i+1;data.values(i,:)=[1600997,2.276983,-5.896085,-0.119221,1.840000,200];
i=i+1;data.values(i,:)=[1608997,2.217144,-5.896085,-0.123720,1.800000,200];
i=i+1;data.values(i,:)=[1617993,2.161907,-6.039892,-0.119221,1.920000,200];
i=i+1;data.values(i,:)=[1625995,2.102067,-6.039892,-0.101225,1.880000,200];
i=i+1;data.values(i,:)=[1633998,2.054502,-6.039892,-0.114722,1.880000,200];
i=i+1;data.values(i,:)=[1641997,1.999265,-5.944021,-0.083230,1.800000,200];
i=i+1;data.values(i,:)=[1649997,1.945563,-5.991956,-0.150713,1.760000,200];
i=i+1;data.values(i,:)=[1658994,1.891860,-6.087827,-0.119221,1.800000,200];
i=i+1;data.values(i,:)=[1667015,1.830486,-6.087827,-0.164210,1.840000,200];
i=i+1;data.values(i,:)=[1675018,1.776784,-6.087827,-0.105724,1.880000,200];
i=i+1;data.values(i,:)=[1684000,1.723081,-5.991956,-0.182205,1.760000,200];
i=i+1;data.values(i,:)=[1692013,1.666310,-5.991956,-0.114722,1.760000,200];
i=i+1;data.values(i,:)=[1701995,1.601867,-6.087827,-0.096726,1.840000,2200];
i=i+1;data.values(i,:)=[1711031,1.546630,-5.991956,-0.101225,1.760000,2200];
i=i+1;data.values(i,:)=[1719994,1.485256,-6.039892,-0.110223,1.710000,2200];
i=i+1;data.values(i,:)=[1729065,1.431554,-5.991956,-0.159711,1.760000,2200];
i=i+1;data.values(i,:)=[1737996,1.370179,-6.039892,-0.101225,1.710000,2200];
i=i+1;data.values(i,:)=[1745995,1.310339,-5.991956,-0.110223,1.760000,2200];
i=i+1;data.values(i,:)=[1753998,1.256637,-6.039892,-0.096726,1.670000,2200];
i=i+1;data.values(i,:)=[1761994,1.202935,-6.135763,-0.141715,1.800000,2200];
i=i+1;data.values(i,:)=[1770991,1.149232,-6.135763,-0.173208,1.760000,2200];
i=i+1;data.values(i,:)=[1780000,1.089392,-6.135763,-0.119221,1.800000,2200];
i=i+1;data.values(i,:)=[1788006,1.029552,-6.183698,-0.146214,1.760000,2200];
i=i+1;data.values(i,:)=[1795993,0.978919,-6.087827,-0.159711,1.710000,2200];
i=i+1;data.values(i,:)=[1804992,0.925216,-6.039892,-0.168709,1.710000,2200];
i=i+1;data.values(i,:)=[1813997,0.863842,-6.039892,-0.150713,1.710000,2200];
i=i+1;data.values(i,:)=[1821999,0.802468,-6.135763,-0.105724,1.760000,2200];
i=i+1;data.values(i,:)=[1830004,0.748765,-6.183698,-0.096726,1.800000,2200];
i=i+1;data.values(i,:)=[1837994,0.695063,-6.135763,-0.173208,1.710000,2200];
i=i+1;data.values(i,:)=[1846993,0.645964,-6.039892,-0.155212,1.670000,2200];
i=i+1;data.values(i,:)=[1855992,0.584589,-6.087827,-0.101225,1.710000,2200];
i=i+1;data.values(i,:)=[1864993,0.524750,-6.039892,-0.101225,1.760000,2200];
i=i+1;data.values(i,:)=[1873992,0.464910,-5.991956,-0.114722,1.760000,2200];
i=i+1;data.values(i,:)=[1882997,0.403535,-5.991956,-0.141715,1.760000,2200];
i=i+1;data.values(i,:)=[1890993,0.345230,-5.991956,-0.105724,1.760000,2200];
i=i+1;data.values(i,:)=[1899993,0.289993,-6.087827,-0.123720,1.840000,2200];
i=i+1;data.values(i,:)=[1907992,0.236291,-6.087827,-0.096726,1.840000,2200];
i=i+1;data.values(i,:)=[1916994,0.184123,-6.039892,-0.159711,1.840000,2200];
i=i+1;data.values(i,:)=[1925995,0.122748,-6.087827,-0.119221,1.840000,2200];
i=i+1;data.values(i,:)=[1934998,0.062909,-6.087827,-0.087729,1.880000,2200];
i=i+1;data.values(i,:)=[1944999,0.001534,-6.039892,-0.114722,1.920000,2200];
i=i+1;data.values(i,:)=[1954992,6.220277,-5.991956,-0.191203,1.920000,2200];
i=i+1;data.values(i,:)=[1965013,6.151231,-6.039892,-0.132718,1.800000,2200];
i=i+1;data.values(i,:)=[1974011,6.085253,-5.991956,-0.141715,1.800000,2200];
i=i+1;data.values(i,:)=[1983636,6.023879,-5.991956,-0.096726,1.760000,2200];
i=i+1;data.values(i,:)=[1992997,5.964039,-5.896085,-0.195702,1.800000,2200];
i=i+1;data.values(i,:)=[2002991,5.896528,-6.039892,-0.092227,1.920000,2200];
i=i+1;data.values(i,:)=[2011999,5.832085,-6.039892,-0.114722,1.880000,2200];
i=i+1;data.values(i,:)=[2021011,5.772245,-6.039892,-0.186704,1.880000,2200];
i=i+1;data.values(i,:)=[2030000,5.712405,-6.039892,-0.200201,1.880000,2200];
i=i+1;data.values(i,:)=[2039996,5.649497,-6.039892,-0.164210,1.880000,2200];
i=i+1;data.values(i,:)=[2048997,5.589657,-6.039892,-0.159711,1.880000,2200];
i=i+1;data.values(i,:)=[2057997,5.528283,-6.039892,-0.105724,1.920000,2200];
i=i+1;data.values(i,:)=[2066992,5.469977,-5.991956,-0.110223,1.920000,2200];
i=i+1;data.values(i,:)=[2076029,5.408603,-5.991956,-0.105724,1.920000,2200];
i=i+1;data.values(i,:)=[2087010,5.347229,-5.991956,-0.132718,1.920000,2200];
i=i+1;data.values(i,:)=[2095012,5.275114,-5.944021,-0.105724,1.920000,2200];
i=i+1;data.values(i,:)=[2102992,5.221411,-5.991956,-0.092227,1.920000,2200];
i=i+1;data.values(i,:)=[2112001,5.166174,-5.991956,-0.128219,1.880000,2200];
i=i+1;data.values(i,:)=[2121011,5.106335,-5.991956,-0.164210,1.880000,2200];
i=i+1;data.values(i,:)=[2130994,5.046495,-6.039892,-0.096726,1.920000,2200];
i=i+1;data.values(i,:)=[2138992,4.985121,-5.991956,-0.168709,1.800000,2200];
i=i+1;data.values(i,:)=[2148993,4.917609,-6.039892,-0.173208,1.880000,200];
i=i+1;data.values(i,:)=[2158011,4.865441,-6.039892,-0.177707,1.880000,200];
i=i+1;data.values(i,:)=[2168012,4.804067,-6.039892,-0.141715,1.880000,200];
i=i+1;data.values(i,:)=[2175996,4.736555,-6.039892,-0.110223,1.840000,200];
i=i+1;data.values(i,:)=[2185224,4.684387,-6.135763,-0.119221,1.800000,200];
i=i+1;data.values(i,:)=[2193997,4.623013,-6.087827,-0.137216,1.840000,200];
i=i+1;data.values(i,:)=[2203011,4.563173,-6.039892,-0.123720,1.840000,200];
i=i+1;data.values(i,:)=[2212013,4.501799,-6.135763,-0.132718,1.840000,200];
i=i+1;data.values(i,:)=[2222000,4.440424,-6.087827,-0.132718,1.840000,200];
i=i+1;data.values(i,:)=[2231262,4.382119,-6.135763,-0.128219,1.760000,200];
i=i+1;data.values(i,:)=[2240991,4.319211,-6.183698,-0.146214,1.840000,200];
i=i+1;data.values(i,:)=[2249993,4.254767,-6.135763,-0.092227,1.840000,200];
i=i+1;data.values(i,:)=[2259998,4.194928,-6.087827,-0.146214,1.840000,200];
i=i+1;data.values(i,:)=[2269992,4.127416,-5.991956,-0.087729,1.710000,200];
i=i+1;data.values(i,:)=[2279001,4.059905,-6.039892,-0.096726,1.760000,200];
i=i+1;data.values(i,:)=[2287992,3.998530,-5.991956,-0.119221,1.760000,200];
i=i+1;data.values(i,:)=[2297993,3.938690,-6.039892,-0.155212,1.710000,200];
i=i+1;data.values(i,:)=[2307992,3.878850,-6.087827,-0.173208,1.840000,200];
i=i+1;data.values(i,:)=[2316997,3.808270,-6.135763,-0.155212,1.800000,200];
i=i+1;data.values(i,:)=[2325995,3.746896,-6.135763,-0.110223,1.800000,200];
i=i+1;data.values(i,:)=[2335997,3.687056,-6.135763,-0.105724,1.800000,200];
i=i+1;data.values(i,:)=[2345000,3.621079,-6.087827,-0.101225,1.840000,200];
i=i+1;data.values(i,:)=[2355991,3.567376,-6.135763,-0.132718,1.760000,200];
i=i+1;data.values(i,:)=[2366994,3.493727,-6.039892,-0.146214,1.800000,200];
i=i+1;data.values(i,:)=[2375994,3.418544,-6.087827,-0.087729,1.840000,200];
i=i+1;data.values(i,:)=[2384999,3.357170,-6.087827,-0.155212,1.800000,200];
i=i+1;data.values(i,:)=[2397964,3.297330,-6.087827,-0.092227,1.760000,200];
i=i+1;data.values(i,:)=[2407012,3.216009,-6.039892,-0.110223,1.760000,200];
i=i+1;data.values(i,:)=[2418991,3.156169,-6.039892,-0.150713,1.840000,200];
i=i+1;data.values(i,:)=[2428994,3.071779,-5.944021,-0.141715,1.800000,200];
i=i+1;data.values(i,:)=[2439011,3.005802,-5.944021,-0.096726,1.760000,200];
i=i+1;data.values(i,:)=[2450995,2.945962,-6.039892,-0.132718,1.840000,200];
i=i+1;data.values(i,:)=[2460995,2.863107,-5.896085,-0.141715,1.800000,200];
i=i+1;data.values(i,:)=[2471993,2.794061,-5.896085,-0.119221,1.920000,200];
i=i+1;data.values(i,:)=[2484015,2.725015,-5.944021,-0.096726,1.920000,200];
i=i+1;data.values(i,:)=[2495993,2.645229,-5.944021,-0.119221,1.920000,200];
i=i+1;data.values(i,:)=[2508011,2.568511,-5.944021,-0.146214,1.800000,200];
i=i+1;data.values(i,:)=[2519994,2.484121,-5.991956,-0.146214,1.840000,200];
i=i+1;data.values(i,:)=[2531998,2.408938,-5.944021,-0.155212,1.800000,200];
i=i+1;data.values(i,:)=[2543997,2.326083,-6.039892,-0.173208,1.840000,200];
i=i+1;data.values(i,:)=[2556011,2.246296,-5.991956,-0.123720,1.880000,200];
i=i+1;data.values(i,:)=[2568012,2.169579,-5.896085,-0.173208,1.800000,200];
i=i+1;data.values(i,:)=[2579000,2.091326,-6.039892,-0.092227,1.880000,200];
i=i+1;data.values(i,:)=[2591011,2.019212,-5.896085,-0.177707,1.880000,200];
i=i+1;data.values(i,:)=[2602992,1.934822,-5.991956,-0.137216,1.800000,200];
i=i+1;data.values(i,:)=[2613993,1.855036,-6.039892,-0.191203,1.920000,200];
i=i+1;data.values(i,:)=[2625994,1.782921,-5.991956,-0.137216,1.760000,200];
i=i+1;data.values(i,:)=[2637999,1.703135,-6.039892,-0.141715,1.840000,200];
i=i+1;data.values(i,:)=[2649991,1.626417,-5.944021,-0.146214,1.760000,200];
i=i+1;data.values(i,:)=[2661992,1.543561,-6.087827,-0.114722,1.760000,200];
i=i+1;data.values(i,:)=[2677083,1.445363,-5.991956,-0.137216,1.710000,2200];
i=i+1;data.values(i,:)=[2688991,1.368645,-6.135763,-0.146214,1.710000,2200];
i=i+1;data.values(i,:)=[2701013,1.285790,-6.135763,-0.146214,1.760000,2200];
i=i+1;data.values(i,:)=[2710996,1.209072,-6.135763,-0.146214,1.800000,2200];
i=i+1;data.values(i,:)=[2722992,1.141560,-6.087827,-0.083230,1.670000,2200];
i=i+1;data.values(i,:)=[2734995,1.060240,-6.135763,-0.146214,1.710000,2200];
i=i+1;data.values(i,:)=[2744993,0.978919,-6.183698,-0.146214,1.800000,2200];
i=i+1;data.values(i,:)=[2757013,0.914476,-6.183698,-0.119221,1.760000,2200];
i=i+1;data.values(i,:)=[2768992,0.833155,-6.039892,-0.146214,1.800000,2200];
i=i+1;data.values(i,:)=[2780993,0.756437,-6.039892,-0.150713,1.710000,2200];
i=i+1;data.values(i,:)=[2792993,0.670513,-6.135763,-0.159711,1.800000,2200];
i=i+1;data.values(i,:)=[2805014,0.596864,-6.087827,-0.150713,1.710000,2200];
i=i+1;data.values(i,:)=[2817012,0.514009,-6.087827,-0.177707,1.800000,2200];
i=i+1;data.values(i,:)=[2829630,0.432688,-6.087827,-0.123720,1.840000,2200];
i=i+1;data.values(i,:)=[2839000,0.349833,-5.944021,-0.114722,1.800000,2200];
i=i+1;data.values(i,:)=[2850992,0.289993,-5.991956,-0.141715,1.800000,2200];
i=i+1;data.values(i,:)=[2863013,0.211741,-5.991956,-0.114722,1.760000,2200];
i=i+1;data.values(i,:)=[2874992,0.128886,-6.087827,-0.114722,1.880000,2200];
i=i+1;data.values(i,:)=[2886992,0.047565,-5.944021,-0.119221,1.840000,2200];
i=i+1;data.values(i,:)=[2898992,6.255567,-6.039892,-0.128219,1.800000,2200];
i=i+1;data.values(i,:)=[2910994,6.174246,-6.039892,-0.087729,1.920000,2200];
i=i+1;data.values(i,:)=[2923012,6.095994,-5.944021,-0.123720,1.760000,2200];
i=i+1;data.values(i,:)=[2935992,6.013139,-6.087827,-0.132718,1.800000,2200];
i=i+1;data.values(i,:)=[2947992,5.928750,-6.039892,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[2959996,5.847428,-5.896085,-0.110223,1.880000,2200];
i=i+1;data.values(i,:)=[2971992,5.770710,-5.944021,-0.137216,1.800000,2200];
i=i+1;data.values(i,:)=[2984013,5.686321,-6.039892,-0.096726,1.880000,2200];
i=i+1;data.values(i,:)=[2995995,5.614206,-5.896085,-0.110223,1.840000,2200];
i=i+1;data.values(i,:)=[3007991,5.528283,-5.944021,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[3020005,5.450030,-5.991956,-0.096726,1.920000,2200];
i=i+1;data.values(i,:)=[3031998,5.370244,-5.896085,-0.105724,1.840000,2200];
i=i+1;data.values(i,:)=[3043999,5.295061,-5.991956,-0.119221,1.840000,2200];
i=i+1;data.values(i,:)=[3055992,5.215274,-6.039892,-0.101225,1.920000,2200];
i=i+1;data.values(i,:)=[3068018,5.130885,-5.944021,-0.101225,1.760000,2200];
i=i+1;data.values(i,:)=[3081000,5.052632,-6.039892,-0.119221,1.880000,2200];
i=i+1;data.values(i,:)=[3092997,4.965174,-6.087827,-0.105724,1.840000,2200];
i=i+1;data.values(i,:)=[3104993,4.888456,-5.944021,-0.132718,1.800000,2200];
i=i+1;data.values(i,:)=[3117012,4.810204,-6.087827,-0.101225,1.760000,2200];
i=i+1;data.values(i,:)=[3127998,4.728884,-6.135763,-0.141715,1.840000,2200];
i=i+1;data.values(i,:)=[3136008,4.652165,-6.087827,-0.155212,1.800000,2200];
i=i+1;data.values(i,:)=[3145011,4.598463,-6.135763,-0.092227,1.840000,2200];
i=i+1;data.values(i,:)=[3154038,4.537089,-5.991956,-0.101225,1.800000,2200];
i=i+1;data.values(i,:)=[3161998,4.475715,-6.039892,-0.173208,1.760000,2200];
i=i+1;data.values(i,:)=[3173007,4.425081,-6.039892,-0.110223,1.800000,2200];
i=i+1;data.values(i,:)=[3182367,4.356035,-6.087827,-0.159711,1.800000,2200];
i=i+1;data.values(i,:)=[3191995,4.294661,-6.087827,-0.137216,1.710000,2200];
i=i+1;data.values(i,:)=[3200993,4.228683,-6.135763,-0.119221,1.800000,2200];
i=i+1;data.values(i,:)=[3208994,4.168844,-6.135763,-0.096726,1.840000,2200];
i=i+1;data.values(i,:)=[3217994,4.115141,-6.087827,-0.105724,1.710000,2200];
i=i+1;data.values(i,:)=[3226999,4.055301,-6.135763,-0.119221,1.800000,2200];


figure (1)
clf ()
subplot ( 4, 1, 1 )
plot ( data.values(:,1), data.values(:,6) ); 
xlabel('Time (Us)'); 
ylabel('Consigne (mA)');
subplot ( 4, 1, 2 )
plot ( data.values(:,1), data.values(:,4) ); 
xlabel('Time (Us)'); 
ylabel('Reponse (mA)');
subplot ( 4, 1, 3 )
plot ( data.values(:,1), data.values(:,2) ); 
xlabel('Time (Us)'); 
ylabel('Position (rad)');
subplot ( 4, 1, 4 )
plot ( data.values(:,1), data.values(:,3) ); 
xlabel('Time (Us)'); 
ylabel('Speed (rad/s)');
